02.04.2008
Cooperative Manipulation Brainstorming
- Goals
1. Prepositioned robots cooperatively pushing object straight- BOM and Encoders only
- Code
- Startup
- Join Token ring
- Join Coop Manip PAN
- Wait for until enough robots
- Start pushing straight
- Arbitrary stop condition
1. Coordinated Positioning
- Robot recognizes object, helper robot finds the original, helper moves into position near object
- Necessary Components
- Encoders + Dead Reckoning
- BFS
- Orbit
- Object Design
- Rectangle
- Favored design
- Two robots pushing on the same face
- High enough to block BOM
- Rectangle
- Tests needed
- Pushing power vs. object weight
- Minimum encoder RPM
- Wireless
- Task PAN for communication
- Regular packets
- Director robot?
- Original robot that found object becomes director?
- Positioning
- How do robots know which side they're on?
- Button press
- Wireless commands
- Grooves for robot shape
- How do robots know which side they're on?
- Potential extensions
- Circular object pushing
- Arbitrary pattern pushing w/ wireless/colonet control
- Action Items
- Do pushing power test
- Investigate BFS and orbit code
- Waiting On
- Encoders + Dead Reckoning code
- Object Recognition